Leg structure of quadruped robot

Abstract

The leg structure of the quadruped robot comprises a thigh which is of a frame structure. The thigh comprises two side plates (1) and a horseshoe-shaped supporting plate (2) which is arranged between the two side plates (1), used for connecting the two side plates and used for bearing the rigidity of the thigh. The problems that an existing quadruped robot thigh is complex in structure, difficult to produce and manufacture and high in cost are solved. According to the technical scheme, the thigh structure of the quadruped robot can meet the strength needed by movement of the quadruped robot, vibration generated by movement of the quadruped robot can be well absorbed, and safe and stable operation of the quadruped robot is guaranteed.

Description

TECHNICAL FIELD

[0001] A quadruped robot leg structure belongs to the field of robots, in particular, the field of robot support leg structures. BACKGROUND

[0002] As a kind of bionic robot, the leg structure of quadruped robot is the main structure of the whole quadruped robot movement. Its structural design directly affects whether the quadruped robot moves smoothly and flexibly. The leg structure is also the most complex mechanical part of the whole quadruped robot structure. Therefore, its structural design directly affects the cost of the quadruped robot.

[0003] The leg joint structure of the current quadruped robot is complex, which leads to great difficulty in processing and assembling the leg structure parts. In turn, it leads to high cost of the quadruped robot. CONTENT OF THE INVENTION

[0004] To solve the problem that the leg joint structure of the current quadruped robot is complex, which leads to great difficulty in processing and assembling the leg structure parts. In turn, it leads to high cost of the quadruped robot. The present application provides an innovative solution.

[0005] A quadruped robot leg structure, comprising a thigh, the thigh being a frame structure. The thigh comprises two side plates (1), a horseshoe-shaped support plate (2) is arranged between the two side plates (1) for connecting the two side plates and plays a role of bearing the stiffness of the thigh.

[0006] Further, the horseshoe-shaped support plate (2) is arranged at the thigh joint end for mounting a joint motor.

[0007] Further, the thigh further comprises a support column (3), the support column (3) being an independent part; the horseshoe-shaped support plate (2) arranged between the two side plates (1) is arranged at the middle line of the side plate (1) between the thigh joint and the knee joint.

[0008] Further, the support column (3) is arranged at the two edge sides of the side plate (1) between the horseshoe-shaped support plate (2) and the knee joint.

[0009] Further, the thigh further comprises a support column (3), the support column (3) is integrally formed with one of the side plates (1); the horseshoe-shaped support plate (2) is arranged at the middle line of the side plate (1) between the thigh joint and the knee joint.

[0010] Further, the support column (3) is arranged at the two edge sides of the side plate (1) between the horseshoe-shaped support plate (2) and the knee joint.

[0011] Further, the thigh further comprises guide wheels (4), the guide wheels (4) are four, two of which are arranged on the sides of the horseshoe-shaped support plates (2) between the two side plates (1), and the other two are arranged on the sides of the calf joints of the thigh frame, so as to form a cooperation relationship in which the guide wheels (4) guide the transmission belt or chain without touching the horseshoe-shaped support plates (2) and the support columns (3) arranged between the two side plates (1).

[0012] Further, the thigh further comprises guide wheels (4), the guide wheels (4) are four, two of which are arranged on the sides of the horseshoe-shaped support plates (2) between the two side plates (1), and the other two are arranged on the sides of the calf joints of the thigh frame, so as to form a cooperation relationship in which the guide wheels (4) guide the transmission belt or chain without touching the horseshoe-shaped support plates (2) and the support columns (3) arranged between the two side plates (1).

[0013] Beneficial effects: the four-legged robot leg structure comprises a thigh, and the thigh is a frame structure. The thigh comprises two side plates (1), and a horseshoe-shaped support plate (2) arranged between the two side plates (1) and used for connecting the two side plates and bearing the rigidity of the thigh. Such an arrangement can not only meet the functional requirements of the thigh, but also greatly simplify the structure of the thigh and save production costs.

[0014] The horseshoe-shaped support plate (2) is arranged at the thigh joint end for mounting a joint motor. Since the thigh joint needs to be provided with a motor and the like, better strength is required, and therefore the horseshoe-shaped support plate (2) is arranged at the thigh joint end.

[0015] The thigh further comprises a support column (3) arranged between the horseshoe-shaped support plate (2) and the calf joint of the two side plates (1). Such an arrangement can ensure the strength of the thigh structure and reserve transmission space for the transmission structure.

[0016] The arrangement of the guide wheels (4) can avoid interference between the transmission mechanism and the horseshoe-shaped support plate (2) and the support column (3). BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 It is a whole view of a four-legged robot leg structure.

[0018] Fig. 2 It is an exploded view of a four-legged robot leg structure.

[0019] Fig. 3 It is an exploded view of a thigh structure of a four-legged robot leg structure.

[0020] In the figure, 1 is a side plate, 2 is a horseshoe-shaped support plate, 3 is a support column, and 4 is a guide wheel. DETAILED DESCRIPTION

[0021] In order for those skilled in the art to better understand the technical scheme of the present application, we will select a more optimal implementation manner to make a detailed description of the technical scheme of the present application.

[0022] As Figs. 1 to 3 shown, a quadruped robot leg structure, comprising a hip joint, a thigh and a shank. The thigh is a frame structure, which not only meets the strength requirements of the thigh, but also reduces the weight of the thigh. The thigh comprises two side plates 1 and a horseshoe-shaped support plate 2. The horseshoe-shaped support plate 2 is arranged at the thigh joint end between the two side plates 1; for connecting the two side plates and playing a role in bearing the strength of the thigh.

[0023] The thigh also comprises a support column 3, which is an independent part or integrally formed with one of the side plates 1. It is arranged at the middle line of the side plate 1 between the horseshoe-shaped support plate 2 and the shank joint or at the two edge sides of the side plate 1.

[0024] The thigh also comprises a guide wheel 4, which can be two or four. When the guide wheel 4 is two, it is arranged at the side of the horseshoe-shaped support plate 2 between the two side plates 1, so that the guide wheel 4 does not touch the horseshoe-shaped support plate 2 when guiding the transmission belt or chain. When the guide wheel 4 is four, two are arranged at the side of the horseshoe-shaped support plate 2 between the two side plates 1, and the other two are arranged at the shank joint side of the thigh frame. The guide wheel 4 does not touch the horseshoe-shaped support plate 2 and the support column 3 arranged between the two side plates 2 when guiding the transmission belt or chain.

[0025] The above specific embodiments are only the preferred embodiments of the patent technical solution. There are many specific embodiments of the patent technical solution, which are not listed here. Any other specific embodiment or modification obtained by those skilled in the art after understanding the patent technical solution without creative labor is within the protection scope of the patent technical solution obtained according to the Patent Law.

Claims

1. A leg structure for a quadruped robot, comprising a thigh, the thigh being a frame structure; characterized in that: The thigh includes two side plates (1) and a horseshoe-shaped support plate (2) located between the two side plates (1) to connect the two side plates and to bear the stiffness of the thigh.

2. The quadruped robot leg structure according to claim 1, characterized in that: Horseshoe-shaped support plate (2) is set at the end of the thigh joint for mounting the joint motor.

3. The quadruped robot leg structure according to claim 1 or 2, characterized in that: The thigh also includes a support column (3), which is an independent part; the horseshoe-shaped support plate (2) between the two side plates (1) is located at the midline of the side plate (1) between the calf joint.

4. The quadruped robot leg structure according to claim 3, characterized in that: The support column (3) is set on the two edges of the horseshoe-shaped support plate (2) between the two side plates (1) and the side plate (1) between the lower leg joint.

5. The leg structure of a quadruped robot according to claim 1 or 2, characterized in that: The thigh also includes a support column (3), which is integrally formed with one of the side plates (1); it is located at the midline of the side plate (1) between the horseshoe-shaped support plate (2) and the lower leg joint.

6. The quadruped robot leg structure according to claim 5, characterized in that: The support column (3) is set on both sides of the side plate (1) between the horseshoe-shaped support plate (2) and the lower leg joint.

7. The leg structure of a quadruped robot according to claim 1 or 2, characterized in that: The thigh also includes guide wheels (4), there are two guide wheels (4), which are set on the horseshoe-shaped support plate (2) between the two side plates (1) to form a cooperative relationship in which the guide wheels (4) guide the transmission belt or chain without touching the horseshoe-shaped support plate (2).

8. The leg structure of a quadruped robot according to claim 1 or 2, characterized in that: The thigh also includes guide wheels (4). There are four guide wheels (4), two of which are located on the horseshoe-shaped support plate (2) between the two side plates (1), and the other two are located on the lower leg joint side of the thigh frame, so as to form a cooperative relationship in which the guide wheels (4) guide the transmission belt or chain to not touch the horseshoe-shaped support plate (2) and the support column (3) located between the two side plates (1).

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